version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1040
start: 10 25 121 3 46 48
data:
$ID,626
$MISSION,3
$DIVE,1040
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,150
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,425
$T_ABORT,550
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54816
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3921
$C_PITCH,2732
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37.799999
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.91942
$PRESSURE_SLOPE,0.00014088588
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044219922
$SEABIRD_T_H,0.00064468966
$SEABIRD_T_I,2.6862755e-05
$SEABIRD_T_J,3.3151866e-06
$SEABIRD_C_G,-10.061407
$SEABIRD_C_H,1.1334444
$SEABIRD_C_I,-0.0030129163
$SEABIRD_C_J,0.00029655115
$GPS1,251021,033733,2241.5332,-15818.5156,18,0.8,37,9.8,1.3,296.3,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-76.1
$GPS2,251021,034614,2241.5872,-15818.5762,6,0.8,15,9.8,0.8,339.9,10,8.9
$SPEED_LIMITS,0.214,0.228
$TGT_NAME,ALOHA3
$TGT_LATLONG,2239.500,-15800.000
$TGT_RADIUS,1300.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,90.4,31982,-17.6,-10.000,-23.72,2044
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.55,-136.3,127,2083,1156,1037,0.0,0.0,0,82,0.00,0.00,-63.35,0.000,16386,0.000,0.000,127,2084,3172,3134,3211,0,0,0,0,0,0,15.03,28.83,15.04
$GC,87,-0.55,-136.3,127,2084,3135,3213,4.0,-8.4,9,103,8.68,2.42,-0.50,0.000,18948,0.434,0.059,2556,643,3209,3176,3242,0,0,0,0,0,0,13.93,13.11,14.24
$GC,127,-0.55,-136.3,2556,643,3188,3232,20.2,-32.8,15,136,0.00,2.50,0.00,0.000,3078,0.000,0.054,2548,2070,3210,3191,3229,0,0,0,0,0,0,14.77,14.62,14.80
$GC,386,-0.55,-136.3,2547,2070,3191,3228,63.7,-15.9,45,396,0.00,2.40,0.00,0.000,2308,0.000,0.066,2537,3478,3209,3191,3228,0,0,0,0,0,0,15.12,14.19,15.12
$GC,473,-0.55,-136.3,2536,3478,3191,3229,75.4,-12.0,53,483,0.05,2.33,0.00,0.000,3078,0.289,0.046,2554,2076,3210,3193,3228,0,0,0,0,0,0,13.95,14.26,14.09
$GC,725,-0.55,-136.3,2553,2076,3194,3228,106.4,-12.8,78,729,0.00,2.38,0.00,0.000,516,0.000,0.055,2554,667,3211,3194,3228,0,0,0,0,0,0,15.16,14.71,15.16
$GC,781,-0.55,-136.3,2553,667,3195,3227,112.8,-11.3,83,788,0.00,2.40,0.00,0.000,3078,0.000,0.051,2545,2084,3211,3196,3227,0,0,0,0,0,0,14.88,14.72,14.89
$GC,1031,-0.55,-136.3,2545,2084,3196,3226,139.9,-11.3,108,1036,0.00,2.38,0.00,0.000,2308,0.000,0.065,2535,3484,3211,3196,3227,0,0,0,0,0,0,15.17,14.69,15.18
$GC,1085,-0.55,-136.3,2534,3484,3196,3228,145.7,-10.2,113,1095,0.05,2.33,0.00,0.000,3078,0.281,0.043,2553,2066,3212,3197,3227,0,0,0,0,0,0,14.24,14.65,14.38
$GC,1335,-0.55,-136.3,2552,2066,3196,3228,173.1,-10.5,138,1339,0.00,2.35,0.00,0.000,2564,0.000,0.055,2553,668,3211,3196,3227,0,0,0,0,0,0,15.21,14.74,15.21
$GC,1391,-0.55,-136.3,2552,667,3197,3227,178.8,-10.9,143,1398,0.00,2.40,0.00,0.000,3078,0.000,0.052,2543,2083,3212,3197,3227,0,0,0,0,0,0,14.89,14.73,14.92
$GC,1642,-0.55,-136.3,2543,2082,3197,3227,206.3,-10.5,168,1646,0.00,2.38,0.00,0.000,2308,0.000,0.066,2533,3484,3212,3198,3227,0,0,0,0,0,0,15.19,14.71,15.19
$GC,1675,-0.55,-136.3,2533,3484,3197,3227,210.2,-10.3,171,1685,0.05,2.30,0.00,0.000,3078,0.278,0.041,2551,2078,3212,3197,3227,0,0,0,0,0,0,13.99,14.33,14.14
$GC,1926,-0.55,-136.3,2551,2078,3197,3227,230.8,-6.9,196,1931,0.00,2.38,0.00,0.000,2564,0.000,0.054,2551,663,3212,3198,3227,0,0,0,0,0,0,15.21,14.74,15.21
$GC,2003,-0.55,-136.3,2551,663,3198,3227,235.8,-6.7,203,2010,0.00,2.40,0.00,0.000,3078,0.000,0.051,2542,2079,3212,3198,3226,0,0,0,0,0,0,14.90,14.74,14.92
$GC,2253,-0.55,-136.3,2542,2079,3198,3225,254.6,-8.4,228,2257,0.00,2.40,0.00,0.000,2564,0.000,0.053,2542,667,3212,3198,3226,0,0,0,0,0,0,15.20,14.75,15.20
$GC,2280,-0.55,-136.3,2542,667,3198,3226,256.8,-8.6,230,2287,0.08,2.40,0.00,0.000,3078,0.308,0.053,2559,2078,3212,3198,3226,0,0,0,0,0,0,14.45,14.74,14.69
$GC,2529,-0.55,-136.3,2559,2078,3198,3225,275.3,-7.6,255,2538,0.00,2.40,0.00,0.000,260,0.000,0.067,2550,3482,3211,3197,3225,0,0,0,0,0,0,15.20,14.21,15.21
$GC,2552,-0.55,-136.3,2550,3482,3197,3225,277.2,-7.4,257,2560,0.00,2.30,0.00,0.000,3078,0.000,0.041,2550,2083,3211,3198,3224,0,0,0,0,0,0,14.60,14.57,14.62
$GC,2806,-0.55,-136.3,2550,2083,3198,3223,295.4,-6.7,282,2811,0.00,2.40,0.00,0.000,2564,0.000,0.056,2548,661,3210,3198,3223,0,0,0,0,0,0,15.21,14.73,15.21
$GC,2911,-0.55,-136.3,2550,661,3198,3223,302.9,-6.9,292,2916,0.00,2.40,0.00,0.000,3078,0.000,0.054,2540,2075,3210,3198,3222,0,0,0,0,0,0,14.90,14.74,14.92
$GC,3167,-0.55,-136.3,2539,2075,3198,3221,319.8,-7.3,317,3175,0.00,2.40,0.00,0.000,2308,0.000,0.068,2529,3477,3208,3197,3220,0,0,0,0,0,0,15.19,14.42,15.20
$GC,3200,-0.55,-136.3,2529,3477,3197,3219,322.5,-7.7,320,3205,0.08,2.35,0.00,0.000,3078,0.278,0.044,2557,2065,3208,3196,3220,0,0,0,0,0,0,14.50,14.78,14.71
$GC,3454,-0.55,-136.3,2558,2062,3197,3217,339.1,-6.4,345,3463,0.00,2.35,0.00,0.000,516,0.000,0.056,2558,670,3207,3197,3218,0,0,0,0,0,0,15.21,14.21,15.22
$GC,3528,-0.55,-136.3,2557,670,3196,3218,344.4,-7.4,352,3533,0.00,2.42,0.00,0.000,3078,0.000,0.056,2549,2080,3207,3196,3218,0,0,0,0,0,0,14.88,14.72,14.91
$GC,3785,-0.55,-136.3,2549,2081,3196,3213,362.6,-7.5,377,3793,0.00,2.42,0.00,0.000,2308,0.000,0.070,2538,3484,3205,3197,3213,0,0,0,0,0,0,15.19,14.40,15.20
$GC,3851,-0.55,-136.3,2538,3484,3196,3213,368.0,-8.4,383,3858,0.05,2.38,0.00,0.000,3078,0.344,0.044,2555,2073,3205,3197,3213,0,0,0,0,0,0,14.48,14.74,14.69
$GC,4100,-0.55,-136.3,2556,2072,3197,3211,388.3,-8.4,408,4104,0.00,2.38,0.00,0.000,516,0.000,0.057,2556,670,3202,3196,3209,0,0,0,0,0,0,15.19,14.71,15.21
$GC,4164,-0.55,-136.3,2556,669,3195,3212,394.3,-9.1,414,4169,0.00,2.42,0.00,0.000,3078,0.000,0.055,2547,2079,3203,3195,3212,0,0,0,0,0,0,14.87,14.71,14.90
$GC,4421,-0.55,-136.3,2547,2078,3195,3208,415.9,-8.3,439,4430,0.00,2.42,0.00,0.000,2308,0.000,0.071,2537,3480,3200,3194,3207,0,0,0,0,0,0,15.19,14.39,15.19
$GC,4508,-0.55,-136.3,2536,3480,3194,3207,423.8,-9.2,447,4516,0.05,2.42,0.00,0.000,3078,0.343,0.045,2554,2075,3200,3194,3207,0,0,0,0,0,0,14.42,14.65,14.64
$GC,4759,-0.55,-136.3,2554,2073,3194,3204,446.0,-9.0,472,4764,0.00,2.42,0.00,0.000,516,0.000,0.059,2555,672,3199,3194,3204,0,0,0,0,0,0,15.18,14.68,15.19
$GC,4828,-0.55,-136.3,2554,672,3191,3206,452.3,-9.4,478,4834,0.00,2.45,0.00,0.000,3078,0.000,0.057,2545,2081,3198,3191,3205,0,0,0,0,0,0,14.85,14.68,14.88
$GC,5076,-0.55,-136.3,2545,2081,3192,3202,473.1,-7.5,503,5084,0.00,2.45,0.00,0.000,2308,0.000,0.072,2534,3484,3196,3191,3202,0,0,0,0,0,0,15.18,14.33,15.19
$GC,5108,-0.55,-136.3,2534,3484,3191,3202,475.8,-7.6,506,5114,0.05,2.40,0.00,0.000,3078,0.343,0.047,2553,2072,3196,3191,3202,0,0,0,0,0,0,14.46,14.72,14.66
$GC,5364,-0.55,-136.3,2552,2070,3191,3200,491.6,-5.9,531,5374,0.00,2.45,0.00,0.000,2564,0.000,0.059,2553,666,3195,3190,3201,0,0,0,0,0,0,15.20,14.27,15.20
$GC,5448,-0.55,-136.3,2551,665,3189,3201,497.1,-6.6,539,5457,0.00,2.45,0.00,0.000,3078,0.000,0.057,2544,2078,3195,3189,3201,0,0,0,0,0,0,14.47,14.40,14.51
$GC,5701,-0.55,-136.3,2543,2078,3189,3197,513.9,-7.1,564,5705,0.00,2.47,0.00,0.000,2308,0.000,0.072,2532,3492,3193,3189,3197,0,0,0,0,0,0,15.19,14.60,15.19
$GC,5748,-0.55,-136.3,2532,3493,3189,3197,517.3,-7.6,568,5755,0.08,2.42,0.00,0.000,3078,0.301,0.047,2560,2071,3193,3189,3197,0,0,0,0,0,0,14.36,14.69,14.60
$GC,5999,-0.55,-136.3,2559,2070,3189,3195,534.6,-7.0,593,6007,0.00,2.50,0.00,0.000,4356,0.000,0.072,2550,3484,3192,3189,3195,0,0,0,0,0,0,15.18,14.28,15.19
$GC,6119,-0.55,-136.3,2550,3484,3189,3193,543.7,-8.0,604,6125,0.00,2.42,0.00,0.000,3078,0.000,0.046,2550,2072,3191,3189,3194,0,0,0,0,0,0,14.83,14.67,14.85
$GC,6367,-0.55,-136.3,2550,2071,3189,3191,564.1,-8.1,629,6375,0.00,2.53,0.00,0.000,2308,0.000,0.073,2540,3488,3190,3189,3191,0,0,0,0,0,0,15.16,14.24,15.17
$GC,6508,-0.55,-136.3,2540,3488,3189,3190,576.1,-8.9,642,6515,0.00,2.50,0.00,0.000,3078,0.000,0.047,2540,2070,3189,3189,3190,0,0,0,0,0,0,14.76,14.58,14.78
$GC,6759,-0.55,-136.3,2540,2070,3188,3189,597.9,-8.5,667,6767,0.00,2.45,0.00,0.000,2564,0.000,0.060,2540,671,3188,3186,3191,0,0,0,0,0,0,15.16,14.27,15.16
$STATE,6778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6778,begin apogee
$GC,6788,-0.13,0.0,2529,2106,3186,3191,600.4,-8.8,669,6912,0.43,0.00,119.88,1.769,10246,0.238,0.000,2679,2106,2649,2737,2561,0,0,0,0,0,0,13.64,14.28,13.26
$STATE,6913,end apogee,CONTROL_FINISHED_OK
$STATE,6913,begin climb
$GC,6916,0.55,136.3,2679,2106,2737,2561,606.2,0.0,682,7055,0.57,2.50,125.05,1.719,10500,0.148,0.068,2914,3512,2091,2183,2000,0,0,0,0,0,0,14.28,14.02,13.26
$GC,7120,0.55,136.3,2914,3512,2182,2000,589.8,13.1,702,7130,0.05,2.42,0.00,0.000,5126,0.345,0.050,2911,2101,2091,2182,2001,0,0,0,0,0,0,14.06,14.33,14.22
$GC,7370,0.55,136.3,2911,2101,2180,1994,560.2,11.7,727,7380,0.00,2.47,0.00,0.000,4356,0.000,0.069,2911,3510,2087,2180,1994,0,0,0,0,0,0,15.07,14.45,15.08
$GC,7394,0.55,136.3,2910,3510,2181,1994,557.1,12.3,729,7404,0.00,2.42,0.00,0.000,5126,0.000,0.053,2921,2104,2087,2181,1994,0,0,0,0,0,0,14.35,14.28,14.38
$GC,7648,0.55,136.3,2921,2104,2181,1993,524.9,13.0,754,7656,0.00,2.45,0.00,0.000,4612,0.000,0.064,2932,693,2085,2179,1992,0,0,0,0,0,0,15.11,14.42,15.11
$GC,7670,0.55,136.3,2932,693,2175,1992,521.6,13.0,756,7681,0.05,2.42,0.00,0.000,5126,0.322,0.054,2916,2103,2083,2175,1992,0,0,0,0,0,0,13.95,14.26,14.14
$GC,7921,0.55,136.3,2916,2102,2175,1992,489.6,12.1,781,7930,0.00,2.42,0.00,0.000,4356,0.000,0.070,2916,3506,2083,2175,1992,0,0,0,0,0,0,15.15,14.38,15.15
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$GC,9222,0.55,136.7,2927,686,2173,1990,347.6,10.1,908,9230,0.08,2.45,0.00,0.000,5126,0.337,0.053,2904,2102,2081,2173,1990,0,0,0,0,0,0,14.24,14.62,14.57
$GC,9470,0.57,169.6,2903,2103,2172,1989,325.7,8.3,933,9509,0.00,2.42,28.42,1.437,10500,0.000,0.067,2904,3512,1956,2045,1868,0,0,0,0,0,0,15.16,14.33,13.62
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$GC,10427,0.61,227.3,2918,2098,2039,1865,228.3,7.1,1027,10486,0.00,0.00,50.08,1.317,10246,0.000,0.000,2918,2098,1720,1809,1632,0,0,0,0,0,0,15.15,14.50,13.64
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$STATE,12877,end climb,SURFACE_DEPTH_REACHED
$STATE,12877,begin surface coast
$FINISH,0.3,1.002658
$STATE,12911,end surface coast,CONTROL_FINISHED_OK
$STATE,12911,begin surface
$SM_CCo,12990,0.00,0.000,0,0,939,419.70
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$IRIDIUM_FIX,2230.01,-15821.02,251021,033956
$TT8_MAMPS,0.023219,0.337799
$HUMID,56.61
$INTERNAL_PRESSURE,9.03318
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.11,226.251
$10V_AH,12.02,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.150,183.775,487.875,0.000,0.000,29.045,44.251,266.967,0.000,0.000,18.028,3317.249,5847.145,663.697,3173.667,499.110,0.000,2000.971,0.000,2825.841,0.000,0.552,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,878.820,1007.250,1742.199,1098.258,1282.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,120767,1298
$CAP_FILE_SIZE,177955,0
$CFSIZE,1023623168,931938304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095,298.99,1
$GPS,251021,072435,2241.828,-15818.127,25,0.8,41,9.8,0.3,231.6,10,8.9